Simulation of CPG’s for Biped Locomotion

نویسنده

  • Yosef S Razin
چکیده

Bipedal locomotion is a significantly complex yet surprisingly efficient means of movement. Long thought to require a high degree of feedback control, modern research has shown that periodic bipedal gaits are generated by central pattern generators (CPG) (Ijspeert, 2008). While feedback can and often does play a role in determining the parameters of the CPG when an animal moves, basic periodic gait generation requires minimal stimulus to occur.1 This study is especially interested in exploring and validating two detailed CPG models for the purpose of developing a biomimetic electronic neural network for implementation in the bipedal robot, Roo’bot (Razin, 2011). As Roo’bot was primarily developed as a hopping robot, special attention will be payed to the parameters of the hopping gait. Thus, the goals of the this paper are to:

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تاریخ انتشار 2011